Ziel
This project proposes the research in reactive path planning for mobile robots in real environment using artificial intelligence (AI) techniques. An experimental prototype will be used in a first stage as a testbed for proposals (an autonomous underwater vehicle AUV). Among the multiple disciplines that converge in the development of a cost effective and useful for inspections AUV, the navigation control as well as the path planning exhibits particular interest. Effectively, although a lot of proposals may be found in the literature since the last decade, there is a lack of a reliable set of tracking and obstacle avoidance systems to allow the vehicle to follow a certain pattern in the seabed. A potential application is pipeline, electric and telephone cables tracking.
However, the scopes of this research are not limited to this application (i.e. study of coastal ecosystems). Thus, given the multiple possible scenarios in an underwater world, AI techniques will be used to cope with these unknown situations. To face them it requires safe navigation systems that are not yet available for autonomous operations. The main objective of this project is to design and to develop a cost-efficient technology for autonomous navigation in complex environments. The project includes development of an autonomous tracking and a safe, low-altitude navigation for an AUV prototype, which could handle sea trials.
The particular objectives are:
1. To develop a software module responsible for providing the desired AUV trajectory, resorting to AI techniques, particularly knowledge-based system;
2. To apply the resulting prototype to subsea pipeline and cable inspections (in 1 and 2 this project is linked to the EU AUTOTRACKER-GRD1-2000-25150);
3. To develop a mobile robot laboratory in the outgoing host institution (Electromechanical Department of the Engineering Faculty at UNCPBA).
Wissenschaftliches Gebiet
- engineering and technologymechanical engineeringvehicle engineeringautomotive engineeringautonomous vehicles
- natural sciencescomputer and information sciencessoftware
- natural sciencescomputer and information sciencesartificial intelligenceexpert systems
- natural sciencesbiological sciencesecologyecosystemscoastal ecosystems
- social sciencessocial geographytransportnavigation systems
Thema/Themen
Aufforderung zur Vorschlagseinreichung
FP6-2002-MOBILITY-7
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